GUIDANCE METHOD AND APPARATUS

A method of guiding a pursuer to a target is provided, and is of particular use when the possible target location is described by non-Gaussian statistics. Importantly, the method takes into account the fact that different potential target tracks in the future have significantly different times to go. That can give rise to emergent behaviour, in which the guidance method covers several possible outcomes at the same time in an optimal way. An example embodiment of the method combines Particle Filter ideas with Swarm Optimization techniques to form a method for generating guidance commands for systems with non- Gaussian statistics. That example method is then applied to a dynamic mission planning example, to guide an airborne pursuer to a ground target travelling on a network of roads where the pursuer has no-go areas, to avoid collateral damage.